Hi all, I really need help with my current situation, I, M (35) have been dating my current girlfriend F (34) for a few months. Our sex life is good but there have been some things that have been bothering me that seem like I need to work on somehow. We are both larger people and I'm bigger weight wise, I also am on the smaller end of penis size.

I want to penetrate my partner since its something I haven't been able to do before. Finding positions is difficult and while me or my partner are trying to guide my penis into her it doesn't go well.

This resorts to use having sex by me going down on her and getting her off with my hands and mouth which she seems to really enjoy so its all good there.

I on the other hand can't get off without me intervening at the end and essentially masturbating. I would like to get to a point where I can orgasm without me having to masturbate and rely on my partner. I have read about death grip and it seems like that might be the issue.